Related papers: Multi-Modal Local Sensing and Communication for Co…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…
Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
We propose a robust gesture-based communication pipeline for divers to instruct an Autonomous Underwater Vehicle (AUV) to assist them in performing high-risk tasks and helping in case of emergency. A gesture communication language (CADDIAN)…
In this work we consider three different cases of robot-robot interactions and resulting global information transfer in robot swarms. These mechanisms define cooperative properties of the system and can be used for designing collective…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
While research in ad hoc teamwork has great potential for solving real-world robotic applications, most developments so far have been focusing on environments with simple dynamics. In this article, we discuss how the problem of ad hoc…
Language is an effective medium for bi-directional communication in human-robot teams. To infer the meaning of many instructions, robots need to construct a model of their surroundings that describe the spatial, semantic, and metric…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…
Multi-sensor fusion plays a critical role in enhancing perception for autonomous driving, overcoming individual sensor limitations, and enabling comprehensive environmental understanding. This paper first formalizes multi-sensor fusion…
Uncrewed aerial vehicle (UAV) swarms are pivotal in the applications such as disaster relief, aerial base station (BS) and logistics transportation. These scenarios require the capabilities in accurate sensing, efficient communication and…
In this paper, we propose a molecular communication system to localize an abnormality in a diffusion based medium. We consider a general setup to perform joint sensing, communication and localization. This setup consists of three types of…
Relative localization of unmanned aerial vehicle (UAV) swarms in global navigation satellite system (GNSS) denied environments is essential for emergency rescue and battlefield reconnaissance. Existing methods suffer from significant…
Having accurate localization capabilities is one of the fundamental requirements of autonomous robots. For underwater vehicles, the choices for effective localization are limited due to limitations of GPS use in water and poor environmental…
Recent advances in multi-agent reinforcement learning (MARL) are enabling impressive coordination in heterogeneous multi-robot teams. However, existing approaches often overlook the challenge of generalizing learned policies to teams of new…
With the continuous increase of the spectrum and antennas, endogenous sensing is now possible in the fifth generation and future wireless communication systems. However, sensing is a highly complex task for a heterogeneous communication…
Many soft-body organisms found in nature flourish underwater. Similarly, soft robots are potentially well-suited for underwater environments partly because the problematic effects of gravity, friction, and harmonic oscillations are less…
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…